JP2004010224A - Control device for elevator - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a control device for an elevator to keep a difference in inertia between an internal model and the whole of a control system at a low value even when load inside a car changes, improve followability of a speed control system, and smoothly land an elevator. <P>SOLUTION: It is determined (a step S1) whether an elevator is stopped or not, and when the elevator is stopped, an inertia of the whole of an elevator is computed based on the weight of a load in a cage obtained by the weight detecting device and set as a model inertia. By computing a model speed command value during running of the elevator by using the model inertia, the speed of the elevator is controlled. <P>COPYRIGHT: (C)2004,JPO

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to an elevator controller, and more particularly, to an elevator controller having a model reference controller for speed control.
[0002]
[Prior art]
FIG. 2 shows a conventional speed controller when a model reference controller is used for speed control. In FIG. 2, 21 is a proportional gain, 22 is a model inertia, 23 is an integrator, 24 is a PID controller, 25 is an unbalance compensator, 26 and 27 are subtractors, and 28 and 29 are adders.
[0003]
The operation of the conventional speed controller shown in FIG. 2 will be described. The proportional gain 21 is a variable that determines the followability of the model speed command value to the speed command value, and the model inertia 22 is the inertia of the elevator when the elevator mechanical system is regarded as a rigid body. A torque command value, which is the final output of the conventional speed controller shown in FIG. 2, is obtained by adding an output obtained by inputting a deviation between the model speed command value and the actual speed to the PID controller 24 and the model torque command value by an adder 28. The output of the unbalance compensator 25 for compensating for the imbalance weight between the car and the counterweight in the case of the rope elevator is added to the addition result by the adder 29. The model reference controller sets the speed and torque of the elevator model when the speed command value is input as a model speed command value and a model torque command value, respectively, and controls the elevator speed so as to follow these command values. , High-precision speed control is performed.
[0004]
In a conventional elevator model reference controller, speed control is generally performed using a model in which the model inertia is regarded as a constant value.
[0005]
[Problems to be solved by the invention]
The more accurate the information of the inertia of the control target used in the model reference control, the better. In the case of an elevator, if the inertia of the model is treated as a constant value because the inertia of the entire control target changes due to the change in the internal load of the car, the model inertia is compared to the actual inertia of the entire control system due to the effect of the internal load of the car. When there is a large difference, there have been problems such as occurrence of a shock at the time of landing and poor landing accuracy.
[0006]
Also, when the motor is turned on a test basis at the time of elevator installation or factory shipment, the actual inertia is much smaller than the model inertia. On the other hand, there is a problem in that the noise becomes excessive and the behavior may become vibrating because the motor becomes excessively large.
[0007]
The present invention has been made to solve such a problem, and keeps the difference between the inertia of the internal model and the entire control system small even if the load in the car changes, improves the followability of the speed control system, It is an object of the present invention to provide an elevator control device that can smoothly land an elevator.
[0008]
[Means for Solving the Problems]
The present invention provides a speed command input unit for inputting a speed command to a motor for driving an elevator, and a model speed command value assumed for the motor, the reciprocal of the model inertia so as to follow the speed command. Using a proportional gain to calculate a model torque command value assumed for the motor, a speed detecting means for detecting an actual speed that is a rotation speed of the motor, and An error compensating torque calculating means for calculating an error compensating torque based on a difference between a speed command value and the actual speed; and a preliminary torque command value is calculated by adding the model torque command value and the error compensating torque. A preliminary torque command value calculating means, a weight detecting means for detecting a weight of the load in the car, and a weight of the load in the car, An unbalance compensation torque calculating means for calculating an unbalance compensation torque based on an unbalanced weight with a counterweight; and calculating a torque command value by adding the unbalance compensation torque to the preliminary torque command value. A torque command value calculating means, and a model inertia setting means for calculating the inertia of the entire elevator based on the weight of the car internal load obtained by the weight detecting means while the elevator is stopped, and setting the calculated inertia as the model inertia. An elevator control device that performs speed control of the elevator by using the reciprocal of the model inertia set while the elevator is stopped, and calculating the model speed command value by the model calculation unit during elevator traveling. is there.
[0009]
The reciprocal of the model inertia is approximated from a linear function of the output of the weight detecting means.
[0010]
Further, when the output from the weight detecting means is not obtained, or when the weight detecting means is invalidated, the model inertia setting means sets the inertia smaller than the inertia of the entire elevator as the model inertia. Set.
[0011]
The inertia smaller than the inertia of the entire elevator is the inertia of the elevator hoist alone.
[0012]
BEST MODE FOR CARRYING OUT THE INVENTION
Embodiment 1 FIG.
FIG. 1 shows a configuration of a general elevator system to which the elevator control device of the present invention is applied. In FIG. 1, 1 is a car, 2 is a counterweight, 3 is a rope, 4 is a hoist, 5 is a motor for driving an elevator, 6 is a speed detector attached to the hoist 4 or the motor 5. , 7 is a weight detecting device for detecting the weight of the load in the car, 8 is a speed controller, and 9 is a power converter.
[0013]
The operation will be described. The car 1 and the counterweight 2 are connected to each other via a rope 3, and the hoist 4 suspends the rope 3. At this time, by rotating the motor 5 connected to the hoisting machine 4, power is transmitted to the rope 3 and the elevator is driven. The speed controller 8 calculates a torque command value from a speed command value input from the outside, information on the actual speed obtained from the speed detector 6, and information on the car loading weight obtained from the weight detection device 7. Output to power converter 9. As a result, the motor 5 is driven by the power supplied from the power converter 9.
[0014]
Since the load in the car does not change while the elevator is running, the process of the inertia calculation may be performed only while the elevator is stopped. The speed controller 8 in FIG. 1 switches between the processing of the inertia calculation and the processing of the model reference control calculation according to the flowchart of FIG. During the elevator traveling, the value of the model inertia calculated during the stop according to the flowchart in FIG. 3 is substituted into the model inertia 22 in FIG. 2, and then the speed control of the elevator is performed by the model reference control calculation.
[0015]
FIG. 2 corresponds to the internal configuration of the speed controller 8 in FIG. The operation of FIG. 2 will be described. First, a speed command value is input from the outside to the subtracter 26, and a difference from a model speed command value assumed for the motor 5 to be described later is obtained. Based on the difference, a model torque command value is calculated by multiplying the difference by a proportional gain 21 so that the model speed command value follows the speed command value, and the reciprocal of the model inertia 22 is calculated by the model torque command value. After multiplying the value, the integrator 23 integrates the value to calculate a model speed command value. Next, the PID controller 24 calculates an error compensation torque based on the difference between the model speed command value obtained in this way and the actual speed which is the rotation speed of the motor obtained from the speed detector 6. Next, the error compensation torque output from the PID controller 24 and the previously obtained model torque command value are added by the adder 28 to obtain a preliminary torque command value. Next, based on the weight of the counterweight 2 stored in advance and the weight of the car to which the weight of the load in the car detected by the weight detection device 7 is added, the car 1 and the counterweight 2 The unbalance compensator 25 calculates an unbalance compensation torque for compensating the unbalance weight. An adder 29 adds the unbalance compensation torque output from the unbalance compensator 25 to the preliminary torque command value output from the adder 28 to calculate a torque command value. The torque command value thus obtained is the output of the speed controller 8 in FIG.
[0016]
Next, the flow of the process shown in the flowchart of FIG. 3 will be briefly described. First, in step S1, it is determined whether or not the elevator is stopped. If it is determined that the elevator is stopped, an inertia calculation process is performed in step S2. On the other hand, when it is determined that the elevator is not stopped (that is, the vehicle is running), a process of model regulation control calculation is performed in step S3.
[0017]
Next, the inertia calculation in step S2 will be described. First, the model inertia J is calculated by the following method while the elevator is stopped. If the inertia in the case of a 50% load in the car is J _BL , the proportionality constant is k ₁ , and the unbalance amount from the 50% load is w _UBL , the model inertia J is calculated by equation (1).
[0018]
J = J _BL + k ₁ · w _UBL (1)
[0019]
However, J _BL is the inertia of the entire elevator when the car 50% load, k ₁ is a proportionality constant obtained by the equation (2), w _UBL is a cage in the load weight at the current-car load weight and 50% load Is the unbalanced weight representing the difference between
[0020]
k ₁ = (J _FL −J _NL ) / w _cap (2)
[0021]
_{However, J NL} is the inertia of the entire elevator during car in a _{no-load, J FL} is the entire elevator when the car 100% load _{inertia, w cap} is in-car load weight in the car 100% load (maximum loading weight) It is.
[0022]
Since the actual calculation used in the model reference controller is not J obtained by equation (1), but the reciprocal thereof, the result obtained by calculating 1 / J is equivalent to the model inertia 22 in FIG. This is stored in a memory (not shown) as soft data of a portion to be processed. Since _{J BL} and _{k 1} used for the operation in Equation (1) is always constant, obtained in advance.
[0023]
As described above, according to the elevator control device of the first embodiment of the present invention, the internal load of the car is changed by repeatedly calculating the inertia of the internal model according to the internal load of the car detected while the elevator is stopped. Even so, the difference between the internal model and the inertia of the entire control system can be kept small. Therefore, the following of the speed control system is improved, and the elevator can be smoothly landed.
[0024]
Embodiment 2 FIG.
In the first embodiment, while accurate inertia can be obtained, division must be performed when 1 / J is obtained. Therefore, in the second embodiment, the model inertia is calculated faster without using division by approximating a hyperbolic function (quadratic function), which is the reciprocal of the inertia information J, with two continuous straight lines (linear function). can do. Formula (3) shows a calculation formula when the reciprocal 1 / J of the model inertia is approximated by two continuous straight lines. The meaning of the symbols is the same as in the first embodiment, and a description thereof will not be repeated.
[0025]
1 / J = 1 / J _BL + k ₂ · w _UBL (3)
[0026]
However, _{k 2} is a proportionality constant obtained by the equation (4).
[0027]
k ₂ = b ₁ (w _UBL <0)
Or… (4)
k ₂ = b ₂ (w _UBL ≧ 0)
[0028]
here,
b ₁ = (1 / J _BL −1 / J _NL ) · (2 / w _cap ),
b ₂ = (1 / J _FL −1 / J _BL ) · (2 / w _cap )
[0029]
As described above, according to the elevator control device of the second embodiment of the present invention, the same effects as those of the first embodiment can be obtained. In addition, since the division is not performed in the second embodiment of the present invention, the operation can be simplified as compared with the first embodiment, and an industrial effect that allows the use of an inexpensive processing device can be obtained. There is.
[0030]
Embodiment 3 FIG.
In the second embodiment, the hyperbolic function which is the reciprocal of the inertia information J is approximated by two straight lines. However, in order to further increase the calculation efficiency, the approximation is performed by one straight line (linear function). The reciprocal of the inertia information J is calculated based on equation (5). The meanings of the symbols are the same as in the first embodiment, and a description thereof will not be repeated.
1 / J = a + k ₃ · w _UBL (5)
[0032]
However, a and k ₃ is a proportionality constant obtained from the scope of formula (6).
[0033]
1 / J _BL ≦ a ≦ 1/2 × (1 / J _NL + 1 / J _FL ), b ₁ <k ₃ <b ₂
… (6)
[0034]
As described above, according to the elevator control device of the third embodiment of the present invention, the same effects as those of the first embodiment can be obtained. Further, in the third embodiment of the present invention, division is not performed, so that the operation can be simplified as compared with the first embodiment, and an industrial effect that allows the use of an inexpensive processing device can be used. There is.
[0035]
Embodiment 4 FIG.
In the present embodiment, a case will be described in which an output signal from a weight detecting device for detecting the weight of a load in a car cannot be obtained, or a case where the weight detecting device is invalidated.
[0036]
When the output signal from the weight detection device 7 for detecting the weight of the load in the car is not obtained, or when the weight detection device 7 is disabled, the inertia information smaller than the inertia of the entire elevator during the stop of the elevator. Is calculated, and an ideal torque command value and an ideal speed command value are calculated from the speed command value based on the set inertia information.
[0037]
As described above, according to the elevator control apparatus of Embodiment 4 of the present invention, when the inertia of the entire control target is extremely small as compared with the inertia of the internal model, for example, when the motor alone is turned, If the output signal from the device is not obtained or the weight detection device is disabled, set the inertia information smaller than the inertia of the entire elevator while the elevator is stopped, and set the speed command value based on the set inertia information. By calculating the ideal torque command value and the ideal speed command value from, the ideal torque command value is prevented from becoming excessive, and the motor can be smoothly rotated.
[0038]
Embodiment 5 FIG.
In the present embodiment, a specific example of the inertia information set during the stop of the elevator in the fourth embodiment will be described.
[0039]
In the elevator control device according to the fourth embodiment, the inertia information set while the elevator is stopped is the inertia of the hoist alone.
[0040]
Thus, according to the elevator control device of the fifth embodiment of the present invention, when the inertia of the entire control target is extremely small as compared with the inertia of the internal model, for example, when the motor alone is turned, If the output signal is not obtained or the weight detection device is disabled, the inertia of the hoisting machine alone is set as the inertia information smaller than the inertia of the entire elevator while the elevator is stopped, and based on the set inertia information. By calculating the ideal torque command value and the ideal speed command value from the speed command value, the ideal torque command value can be prevented from becoming excessive, and the motor can be smoothly rotated.
[0041]
【The invention's effect】
The present invention provides a speed command input unit for inputting a speed command to a motor for driving an elevator, and a model speed command value assumed for the motor, the reciprocal of the model inertia so as to follow the speed command. Using a proportional gain to calculate a model torque command value assumed for the motor, a speed detecting means for detecting an actual speed that is a rotation speed of the motor, and An error compensating torque calculating means for calculating an error compensating torque based on a difference between a speed command value and the actual speed; and a preliminary torque command value is calculated by adding the model torque command value and the error compensating torque. A preliminary torque command value calculating means, a weight detecting means for detecting a weight of the load in the car, and a weight of the load in the car, An unbalance compensation torque calculating means for calculating an unbalance compensation torque based on an unbalanced weight with a counterweight; and calculating a torque command value by adding the unbalance compensation torque to the preliminary torque command value. A torque command value calculating means, and a model inertia setting means for calculating the inertia of the entire elevator based on the weight of the car internal load obtained by the weight detecting means while the elevator is stopped, and setting the calculated inertia as the model inertia. An elevator control device that performs speed control of the elevator by using the reciprocal of the model inertia set while the elevator is stopped, and calculating the model speed command value by the model calculation unit during elevator traveling. Depending on the load in the car detected while the elevator is stopped. By calculating the inertia of the part model, the difference between the internal model and the inertia of the entire control system can be kept small even if the load in the car changes, thereby improving the following of the speed control system and smoothing the elevator. Can be placed on the floor.
[0042]
Further, since the reciprocal of the model inertia is approximated from a linear function of the output of the weight detecting means, division is not performed, so that the calculation can be simplified and the device can be manufactured at low cost.
[0043]
Further, when the output from the weight detecting means is not obtained, or when the weight detecting means is invalidated, the model inertia setting means sets the inertia smaller than the inertia of the entire elevator as the model inertia. By setting the ideal torque command value and ideal speed command value from the speed command value based on the set model inertia information, the ideal torque command value is prevented from becoming excessive and the motor rotates smoothly. Can be.
[0044]
Further, since the inertia smaller than the inertia of the entire elevator is the inertia of the elevator hoist alone, by calculating the ideal torque command value and the ideal speed command value from the speed command value based on the set inertia information, It is possible to prevent the ideal torque command value from becoming excessive, and to smoothly rotate the motor.
[Brief description of the drawings]
FIG. 1 is a configuration diagram showing a configuration of a general elevator system to which an elevator control device of the present invention is applied.
FIG. 2 is a configuration diagram showing a configuration of the present invention and a conventional model regulation controller (speed controller).
FIG. 3 is a flowchart showing the operation of the elevator control device of the present invention.
[Explanation of symbols]
1 car, 2 counterweights, 3 ropes, 4 hoisting machines, 5 motors, 6 speed detectors, 7 weight detectors, 8 model reference controllers, 9 power converters, 21 proportional gains, 22 model inertia, 23 Integrator, 24 PID controller, 25 unbalance compensator.

Claims (4)

Speed command input means for inputting a speed command to a motor for driving the elevator,
A model speed command value assumed for the motor is calculated using a reciprocal of model inertia so as to follow the speed command, and a model torque command value assumed for the motor is calculated using a proportional gain. Model calculation means for calculating
Speed detection means for detecting an actual speed that is the rotation speed of the motor,
Error compensation torque calculation means for calculating an error compensation torque based on a difference between the model speed command value and the actual speed,
Preliminary torque command value calculating means for calculating a preliminary torque command value by adding the model torque command value and the error compensation torque;
Weight detecting means for detecting the weight of the load in the car;
The weight of the car internal load is input, based on the weight of the unbalance between the car and the counterweight, based on the unbalance compensation torque calculating means to calculate the unbalance compensation torque,
A torque command value calculating unit that calculates a torque command value by adding the unbalance compensation torque to the preliminary torque command value;
While the elevator is stopped, the inertia of the entire elevator is calculated based on the weight of the car internal load obtained by the weight detecting means, and model inertia setting means is set as the model inertia.
Elevator control, wherein the elevator is controlled by using the reciprocal of the model inertia set while the elevator is stopped and the model calculation means calculates a model speed command value during elevator traveling. apparatus. The elevator control device according to claim 1, wherein a reciprocal of the model inertia is approximated from a linear function of an output of the weight detection unit. When the output from the weight detecting means is not obtained, or when the weight detecting means is invalidated, the model inertia setting means sets inertia smaller than the inertia of the entire elevator as the model inertia. The elevator control device according to claim 1 or 2, wherein: The elevator control device according to claim 3, wherein the inertia smaller than the inertia of the entire elevator is the inertia of the elevator hoist alone.

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